EP4069128A4 - Methods and systems for assisting a user in positioning an automated medical device relative to a body of a patient - Google Patents

Methods and systems for assisting a user in positioning an automated medical device relative to a body of a patient Download PDF

Info

Publication number: EP4069128A4
Authority: EP; European Patent Office
Prior art keywords: assisting; patient; positioning; systems; user
Prior art date: 2019-12-05
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.): Withdrawn

Application number

EP20895638.3A

Other languages

German (de)

French (fr)

Other versions

EP4069128A1 (en

Inventor

Moran Shochat

Ido ROTH

Dvir KRAUSHAR

Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)

Xact Robotics Ltd

Original Assignee

Xact Robotics Ltd

Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)

2019-12-05

Filing date

2020-12-03

Publication date

2023-05-03

2020-12-03Application filed by Xact Robotics LtdfiledCriticalXact Robotics Ltd

2022-10-12Publication of EP4069128A1publicationCriticalpatent/EP4069128A1/en

2023-05-03Publication of EP4069128A4publicationCriticalpatent/EP4069128A4/en

StatusWithdrawnlegal-statusCriticalCurrent

Classifications

- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/32—Surgical robots operating autonomously
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
- A61B90/17—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins for soft tissue, e.g. breast-holding devices
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
- A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/25—User interfaces for surgical systems
- A61B2034/252—User interfaces for surgical systems indicating steps of a surgical procedure
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N20/00—Machine learning
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/41—Medical

Landscapes

Health & Medical Sciences (AREA)
Surgery (AREA)
Life Sciences & Earth Sciences (AREA)
Engineering & Computer Science (AREA)
Molecular Biology (AREA)
Public Health (AREA)
Veterinary Medicine (AREA)
Biomedical Technology (AREA)
Heart & Thoracic Surgery (AREA)
Medical Informatics (AREA)
Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
Animal Behavior & Ethology (AREA)
General Health & Medical Sciences (AREA)
Robotics (AREA)
Pathology (AREA)
Oral & Maxillofacial Surgery (AREA)
Physics & Mathematics (AREA)
General Physics & Mathematics (AREA)
Theoretical Computer Science (AREA)
Human Computer Interaction (AREA)
Neurosurgery (AREA)
Manipulator (AREA)

EP20895638.3A2019-12-052020-12-03Methods and systems for assisting a user in positioning an automated medical device relative to a body of a patientWithdrawnEP4069128A4 (en)

Applications Claiming Priority (2)

Application Number	Priority Date	Filing Date	Title
US201962944048P	2019-12-05	2019-12-05
PCT/IL2020/051247WO2021111445A1 (en)	2019-12-05	2020-12-03	Methods and systems for assisting a user in positioning an automated medical device relative to a body of a patient

Publications (2)

Publication Number	Publication Date
EP4069128A1 EP4069128A1 (en)	2022-10-12
EP4069128A4true EP4069128A4 (en)	2023-05-03

Family

ID=76221131

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP20895638.3AWithdrawnEP4069128A4 (en)	2019-12-05	2020-12-03	Methods and systems for assisting a user in positioning an automated medical device relative to a body of a patient

Country Status (4)

Country	Link
US (1)	US20220409282A1 (en)
EP (1)	EP4069128A4 (en)
CN (1)	CN115052545A (en)
WO (1)	WO2021111445A1 (en)

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US12383341B2 (en)*	2019-12-30	2025-08-12	Intuitive Surgical Operations, Inc.	Systems and methods for automatically generating an anatomical boundary
CN113561220B (en)*	2020-01-23	2022-07-01	诺创智能医疗科技(杭州)有限公司	Surgical robotic arm, computer equipment, and computer-readable storage medium
CN117881357A (en)*	2021-08-23	2024-04-12	生物机器人医疗有限公司	Method and system for determining trajectory of elongated tool
DE102022207155A1 (en)*	2022-07-13	2024-01-18	Siemens Healthcare Gmbh	Method and system for monitoring alignment of a medical object
US12433691B1 (en)*	2024-04-05	2025-10-07	Mariner Endosurgery	Minimally invasive surgical apparatus, system, and related methods

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US20090131783A1 (en)*	2007-11-21	2009-05-21	Surgi-Vision, Inc.	Methods, systems and computer program products for positioning a guidance apparatus relative to a patient
WO2017003453A1 (en)*	2015-06-30	2017-01-05	Canon U.S.A., Inc.	Fiducial markers, systems, and methods of registration
US20190282301A1 (en)*	2018-03-17	2019-09-19	Canon U.S.A., Inc.	Method for virtual device positioning on skin surface in 3d medical image data

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US8560118B2 (en)*	2007-04-16	2013-10-15	Neuroarm Surgical Ltd.	Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis
US11412951B2 (en)*	2013-03-15	2022-08-16	Syanptive Medical Inc.	Systems and methods for navigation and simulation of minimally invasive therapy
WO2015132787A1 (en)*	2014-03-04	2015-09-11	Xact Robotics Ltd.	Dynamic planning method for needle insertion
WO2017042823A1 (en)*	2015-09-10	2017-03-16	Xact Robotics Ltd.	Systems and methods for guiding the insertion of a medical tool
JP2019513474A (en)*	2016-04-15	2019-05-30	ザクトロボティクスリミテッド	Device and method for attaching a medical device
US11026747B2 (en)*	2017-04-25	2021-06-08	Biosense Webster (Israel) Ltd.	Endoscopic view of invasive procedures in narrow passages
US10806532B2 (en)*	2017-05-24	2020-10-20	KindHeart, Inc.	Surgical simulation system using force sensing and optical tracking and robotic surgery system
US11202652B2 (en)*	2017-08-11	2021-12-21	Canon U.S.A., Inc.	Registration and motion compensation for patient-mounted needle guide

2020
- 2020-12-03CNCN202080095595.7Apatent/CN115052545A/enactivePending
- 2020-12-03EPEP20895638.3Apatent/EP4069128A4/ennot_activeWithdrawn
- 2020-12-03WOPCT/IL2020/051247patent/WO2021111445A1/ennot_activeCeased
- 2020-12-03USUS17/780,991patent/US20220409282A1/ennot_activeAbandoned

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WO2017003453A1 (en)*	2015-06-30	2017-01-05	Canon U.S.A., Inc.	Fiducial markers, systems, and methods of registration
US20190282301A1 (en)*	2018-03-17	2019-09-19	Canon U.S.A., Inc.	Method for virtual device positioning on skin surface in 3d medical image data

Non-Patent Citations (1)

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Title
See also references ofWO2021111445A1*

Also Published As

Publication number	Publication date
WO2021111445A1 (en)	2021-06-10
US20220409282A1 (en)	2022-12-29
EP4069128A1 (en)	2022-10-12
CN115052545A (en)	2022-09-13

Publication	Publication Date	Title
EP4069128A4 (en)	2023-05-03	Methods and systems for assisting a user in positioning an automated medical device relative to a body of a patient
EP3614963A4 (en)	2021-01-13	Catheter device and method for inducing negative pressure in a patient's bladder
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EP3615124A4 (en)	2021-01-06	Catheter and method for inducing negative pressure in a patient's bladder
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SG10201809094TA (en)	2020-05-28	Method And System Of Locating A Position Within A Human Body
IL276444A (en)	2021-03-01	Device for magnetic field stimulation of the body tissue of a user for use in digital telemedicine, in particular according to the e-pulse method for pelvic floor optimization
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EP3253438A4 (en)	2018-04-11	Apparatus and methods for administering treatment within a bodily duct of a patient
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GB2611255B (en)	2023-06-14	Methods and systems for providing assistance to a user of a surgical robot system
EP3265990A4 (en)	2018-12-05	Method and system for providing medical advice about treatment of a condition of a user
WO2014126757A3 (en)	2014-10-16	Surgical interface for use with endoscope

Legal Events

Date	Code	Title	Description
2021-06-11	STAA	Information on the status of an ep patent application or granted ep patent	Free format text:STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE
2022-09-09	PUAI	Public reference made under article 153(3) epc to a published international application that has entered the european phase	Free format text:ORIGINAL CODE: 0009012
2022-09-09	STAA	Information on the status of an ep patent application or granted ep patent	Free format text:STATUS: REQUEST FOR EXAMINATION WAS MADE
2022-10-12	17P	Request for examination filed	Effective date:20220630
2022-10-12	AK	Designated contracting states	Kind code of ref document:A1 Designated state(s):AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
2023-02-01	RIC1	Information provided on ipc code assigned before grant	Ipc:A61B 90/11 20160101ALI20221223BHEP Ipc:A61B 90/50 20160101ALI20221223BHEP Ipc:A61B 90/17 20160101ALI20221223BHEP Ipc:A61B 34/30 20160101ALI20221223BHEP Ipc:A61B 17/00 20060101ALI20221223BHEP Ipc:A61B 34/00 20160101ALI20221223BHEP Ipc:A61B 34/20 20160101ALI20221223BHEP Ipc:A61B 34/32 20160101ALI20221223BHEP Ipc:A61B 17/34 20060101ALI20221223BHEP Ipc:A61B 34/10 20160101AFI20221223BHEP
2023-03-15	DAV	Request for validation of the european patent (deleted)
2023-03-15	DAX	Request for extension of the european patent (deleted)
2023-05-03	A4	Supplementary search report drawn up and despatched	Effective date:20230405
2023-05-03	RIC1	Information provided on ipc code assigned before grant	Ipc:A61B 90/11 20160101ALI20230330BHEP Ipc:A61B 90/50 20160101ALI20230330BHEP Ipc:A61B 90/17 20160101ALI20230330BHEP Ipc:A61B 34/30 20160101ALI20230330BHEP Ipc:A61B 17/00 20060101ALI20230330BHEP Ipc:A61B 34/00 20160101ALI20230330BHEP Ipc:A61B 34/20 20160101ALI20230330BHEP Ipc:A61B 34/32 20160101ALI20230330BHEP Ipc:A61B 17/34 20060101ALI20230330BHEP Ipc:A61B 34/10 20160101AFI20230330BHEP
2024-10-18	STAA	Information on the status of an ep patent application or granted ep patent	Free format text:STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN
2024-11-20	18D	Application deemed to be withdrawn	Effective date:20240702

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